EP1391845A3 - Appareil et méthode de détection d'objets basés sur des images - Google Patents

Appareil et méthode de détection d'objets basés sur des images Download PDF

Info

Publication number
EP1391845A3
EP1391845A3 EP03016718A EP03016718A EP1391845A3 EP 1391845 A3 EP1391845 A3 EP 1391845A3 EP 03016718 A EP03016718 A EP 03016718A EP 03016718 A EP03016718 A EP 03016718A EP 1391845 A3 EP1391845 A3 EP 1391845A3
Authority
EP
European Patent Office
Prior art keywords
input image
image
area
self
global
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP03016718A
Other languages
German (de)
English (en)
Other versions
EP1391845A2 (fr
EP1391845B1 (fr
Inventor
Hiroshi Kondo
Koji Akatsuka
Atsushi Miura
Hiroshi Tsujino
Shinichi Nagai
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Honda Motor Co Ltd
Original Assignee
Honda Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Publication of EP1391845A2 publication Critical patent/EP1391845A2/fr
Publication of EP1391845A3 publication Critical patent/EP1391845A3/fr
Application granted granted Critical
Publication of EP1391845B1 publication Critical patent/EP1391845B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • G06T7/0008—Industrial image inspection checking presence/absence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/215—Motion-based segmentation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/254—Analysis of motion involving subtraction of images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/269—Analysis of motion using gradient-based methods

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Quality & Reliability (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
  • Closed-Circuit Television Systems (AREA)
EP03016718.3A 2002-07-22 2003-07-22 Appareil et méthode de détection d'objets basés sur des images Expired - Lifetime EP1391845B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2002212507A JP3979894B2 (ja) 2002-07-22 2002-07-22 物体検出装置及び方法
JP2002212507 2002-07-22

Publications (3)

Publication Number Publication Date
EP1391845A2 EP1391845A2 (fr) 2004-02-25
EP1391845A3 true EP1391845A3 (fr) 2011-06-22
EP1391845B1 EP1391845B1 (fr) 2018-10-24

Family

ID=31184435

Family Applications (1)

Application Number Title Priority Date Filing Date
EP03016718.3A Expired - Lifetime EP1391845B1 (fr) 2002-07-22 2003-07-22 Appareil et méthode de détection d'objets basés sur des images

Country Status (3)

Country Link
US (1) US7295684B2 (fr)
EP (1) EP1391845B1 (fr)
JP (1) JP3979894B2 (fr)

Families Citing this family (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3885999B2 (ja) * 2001-12-28 2007-02-28 本田技研工業株式会社 物体検出装置
JP3979894B2 (ja) * 2002-07-22 2007-09-19 本田技研工業株式会社 物体検出装置及び方法
TWI236901B (en) 2004-06-11 2005-08-01 Oriental Inst Technology An apparatus and method for identifying surrounding environment by means of image processing and for outputting the resutls
CN1313973C (zh) * 2004-07-30 2007-05-02 中国科学院电子学研究所 舰船扰动双参平面检测法
JP4426535B2 (ja) * 2006-01-17 2010-03-03 本田技研工業株式会社 車両の周辺監視装置
WO2007142267A1 (fr) * 2006-06-06 2007-12-13 Nec Corporation système de calcul de quantité de déplacement et système de détection d'obstacle
KR100801087B1 (ko) * 2006-07-05 2008-02-11 삼성전자주식회사 스트럭처드 라이트를 이용한 이동체 감지 시스템 및 방법,상기 시스템을 포함하는 이동 로봇
JP2008080472A (ja) * 2006-09-29 2008-04-10 Toshiba Corp ロボット装置及びその制御方法
JP4724638B2 (ja) * 2006-10-20 2011-07-13 株式会社日立製作所 オブジェクト検出方法
JP4704998B2 (ja) * 2006-10-26 2011-06-22 本田技研工業株式会社 画像処理装置
JP4709794B2 (ja) * 2007-03-15 2011-06-22 株式会社東芝 動き推定装置及びその方法
CN101247479B (zh) * 2008-03-26 2010-07-07 北京中星微电子有限公司 一种基于图像中目标区域的自动曝光方法
EP2419881B1 (fr) * 2009-04-15 2016-03-30 Toyota Jidosha Kabushiki Kaisha Dispositif de détection d'objet
JP4788798B2 (ja) * 2009-04-23 2011-10-05 トヨタ自動車株式会社 物体検出装置
KR101184460B1 (ko) * 2010-02-05 2012-09-19 연세대학교 산학협력단 마우스 포인터 제어 장치 및 방법
WO2012047202A1 (fr) * 2010-10-05 2012-04-12 Utc Fire & Security Corporation Système et procédé pour la détection d'objets
US9275285B2 (en) 2012-03-29 2016-03-01 The Nielsen Company (Us), Llc Methods and apparatus to count people in images
US9092675B2 (en) 2012-03-29 2015-07-28 The Nielsen Company (Us), Llc Methods and apparatus to count people in images
US8761442B2 (en) 2012-03-29 2014-06-24 The Nielsen Company (Us), Llc Methods and apparatus to count people in images
US8660307B2 (en) 2012-03-29 2014-02-25 The Nielsen Company (Us), Llc Methods and apparatus to count people in images
RU2498346C1 (ru) * 2012-04-17 2013-11-10 Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Московский авиационный институт (национальный исследовательский университет") (МАИ) Способ обнаружения подвижного объекта
TWI528790B (zh) * 2013-12-13 2016-04-01 瑞昱半導體股份有限公司 多媒體系統之視窗偵測裝置與方法
CN107872613A (zh) * 2016-09-23 2018-04-03 中兴通讯股份有限公司 一种利用双摄像头进行人脸识别的方法、装置及移动终端
US10580144B2 (en) 2017-11-29 2020-03-03 International Business Machines Corporation Method and system for tracking holographic object
US20200155118A1 (en) * 2018-11-19 2020-05-21 General Electric Company Methods and systems for automatic beam steering

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001069536A2 (fr) * 2000-03-10 2001-09-20 Sarnoff Corporation Procede et appareil de traitement qualitatif de donnees spatio-temporelles

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3103169B2 (ja) * 1991-11-29 2000-10-23 本田技研工業株式会社 二次元動画像のオプティカルフロー生成方式
JP2940582B2 (ja) * 1992-10-15 1999-08-25 ダイハツ工業株式会社 斜め後方走行車検出方法
JP3239521B2 (ja) * 1993-03-30 2001-12-17 トヨタ自動車株式会社 移動体認識装置
JP3364771B2 (ja) 1994-03-09 2003-01-08 本田技研工業株式会社 移動物体検出装置
EP0713331B1 (fr) * 1994-11-17 2001-03-14 Canon Kabushiki Kaisha Dispositif et procédé de commande de caméra
DE69629732T2 (de) * 1995-01-23 2004-07-15 Fuji Photo Film Co., Ltd., Minami-Ashigara Vorrichtung zur rechnerunterstützten Diagnose
US6061477A (en) * 1996-04-18 2000-05-09 Sarnoff Corporation Quality image warper
US6185337B1 (en) * 1996-12-17 2001-02-06 Honda Giken Kogyo Kabushiki Kaisha System and method for image recognition
JP2927350B2 (ja) * 1997-03-27 1999-07-28 株式会社モノリス 多重解像度フィルタ処理方法およびその方法を利用することのできる画像マッチング方法
JP3612227B2 (ja) * 1998-01-07 2005-01-19 株式会社東芝 物体抽出装置
JP3540142B2 (ja) * 1998-01-30 2004-07-07 株式会社東芝 動きベクトル検出回路および動きベクトル検出方法
US6421463B1 (en) * 1998-04-01 2002-07-16 Massachusetts Institute Of Technology Trainable system to search for objects in images
US6782132B1 (en) * 1998-08-12 2004-08-24 Pixonics, Inc. Video coding and reconstruction apparatus and methods
JP2000242797A (ja) 1999-02-18 2000-09-08 Toyota Motor Corp 画像の運動検出方法及び物体検出装置
JP2000251199A (ja) * 1999-03-01 2000-09-14 Yazaki Corp 車両用後側方監視装置
JP4159794B2 (ja) * 2001-05-02 2008-10-01 本田技研工業株式会社 画像処理装置及び方法
JP3810657B2 (ja) * 2001-07-31 2006-08-16 松下電器産業株式会社 運動物体検出方法および装置
JP3885999B2 (ja) * 2001-12-28 2007-02-28 本田技研工業株式会社 物体検出装置
JP3979894B2 (ja) * 2002-07-22 2007-09-19 本田技研工業株式会社 物体検出装置及び方法

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001069536A2 (fr) * 2000-03-10 2001-09-20 Sarnoff Corporation Procede et appareil de traitement qualitatif de donnees spatio-temporelles

Non-Patent Citations (7)

* Cited by examiner, † Cited by third party
Title
ANDREA GIACHETTI ET AL: "The Use of Optical Flow for Road Navigation", IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, IEEE INC, NEW YORK, US, vol. 14, no. 1, 1 February 1998 (1998-02-01), XP011053264, ISSN: 1042-296X *
ENKELMANN ET AL: "Obstacle detection by evaluation of optical flow fields from image sequences", IMAGE AND VISION COMPUTING, ELSEVIER, GUILDFORD, GB, vol. 9, no. 3, 1 June 1991 (1991-06-01), pages 160 - 168, XP024237949, ISSN: 0262-8856, [retrieved on 19910601], DOI: 10.1016/0262-8856(91)90010-M *
JORGE DIAS, JORGE LOBOD LUIS A. ALMEIDA: "Cooperation between visual and intertial information for 3D vision", PROCEEDINGS OF THE 10TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION MED2002, 9 July 2002 (2002-07-09) - 12 July 2002 (2002-07-12), Lisbon, Portugal, XP002635401, Retrieved from the Internet <URL:http://med.ee.nd.edu/MED10/pdf/516.pdf> *
KOLODKO J ET AL: "A Motion Estimation System", INDUSTRIAL ELECTRONICS, 2003. ISIE '03. 2003 IEEE INTERNATIONAL SYMPOS IUM ON JUNE 9-11, 2003, PISCATAWAY, NJ, USA,IEEE, vol. 2, 9 June 2003 (2003-06-09), pages 1053 - 1058, XP010683924, ISBN: 978-0-7803-7912-1, DOI: 10.1109/ISIE.2003.1267969 *
LEFAIX G ET AL: "Motion-based obstacle detection and tracking for car driving assistance", PATTERN RECOGNITION, 2002. PROCEEDINGS. 16TH INTERNATIONAL CONFERENCE ON QUEBEC CITY, QUE., CANADA 11-15 AUG. 2002, LOS ALAMITOS, CA, USA,IEEE COMPUT. SOC, US, vol. 4, 11 August 2002 (2002-08-11), pages 74 - 77, XP010613474, ISBN: 978-0-7695-1695-0, DOI: 10.1109/ICPR.2002.1047403 *
RICHARD SZELISKI ET AL: "Spline-Based Image Registration", INTERNATIONAL JOURNAL OF COMPUTER VISION, KLUWER ACADEMIC PUBLISHERS, BO, vol. 22, no. 3, 1 March 1997 (1997-03-01), pages 199 - 218, XP019216348, ISSN: 1573-1405, DOI: 10.1023/A:1007996332012 *
YOU S ET AL: "HYBRID INERTIAL AND VISION TRACKING FOR AUGMENTED REALITY REGISTRATION", PROCEEDINGS IEEE 1999 VIRTUAL REALITY. HOUSTON, TX, MARCH 13 - 17, 1999; [PROCEEDINGS IEEE VIRTUAL REALITY.(VR)], NEW YORK, NY : IEEE, US, 13 March 1999 (1999-03-13), pages 260 - 267, XP000887668, ISBN: 978-0-7803-5559-0 *

Also Published As

Publication number Publication date
US7295684B2 (en) 2007-11-13
EP1391845A2 (fr) 2004-02-25
US20050248654A1 (en) 2005-11-10
JP2004054684A (ja) 2004-02-19
JP3979894B2 (ja) 2007-09-19
EP1391845B1 (fr) 2018-10-24

Similar Documents

Publication Publication Date Title
EP1391845A3 (fr) Appareil et méthode de détection d&#39;objets basés sur des images
Lenz et al. Sparse scene flow segmentation for moving object detection in urban environments
Haritaoglu et al. W/sup 4: Who? When? Where? What? A real time system for detecting and tracking people
KR100474848B1 (ko) 영상시각 정보를 결합하여 실시간으로 복수의 얼굴을검출하고 추적하는 얼굴 검출 및 추적 시스템 및 방법
CN102360423A (zh) 一种人体智能跟踪方法
EP2124452A3 (fr) Dispositif d&#39;évaluation vidéo, dispositif de détermination de la fréquence d&#39;image, dispositif de procédé vidéo, procédé d&#39;évaluation de vidéo et programme d&#39;évaluation de vidéo
EP1605404A3 (fr) Détecteur de marquage de voies
Shi et al. Moving target detection algorithm in image sequences based on edge detection and frame difference
EP1603097A3 (fr) Detecteur de la limitation de voie
WO2005041579A3 (fr) Procede et systeme pour traiter des informations d&#39;image capturee dans un systeme d&#39;affichage video interactif
WO2002069267A3 (fr) Classification d&#39;objets par des ensembles de modeles
WO2004086301A3 (fr) Système et procédé de détection et de suivi de véhicules
CN105427342A (zh) 一种水下小目标声呐图像目标检测跟踪方法和系统
Kalsh et al. Sign language recognition system
CN108760590A (zh) 一种基于图像处理的厨房油烟浓度检测与干扰排除方法
ATE399687T1 (de) Regen-erkennungsvorrichtung und -verfahren
Goto et al. Text-tracking wearable camera system for the blind
JP2007006324A (ja) 監視記録装置及び監視記録方法
KR101605168B1 (ko) 이미지 처리 장치 및 방법
Gao et al. Moving object detection based on kirsch operator combined with Optical Flow
CN103310454B (zh) 滞留物检测中的静止物体类型判断与物主分析方法及系统
Alghamdi et al. Safe trajectory estimation at a pedestrian crossing to assist visually impaired people
Bharathi et al. A Conceptual Real-Time Deep Learning Approach for Object Detection, Tracking and Monitoring Social Distance using Yolov5
Skulimowski et al. Door detection in images of 3d scenes in an electronic travel aid for the blind
KR20060121503A (ko) 무인 감시 로봇에서 중요 얼굴 추적 장치 및 방법

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LI LU MC NL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL LT LV MK

PUAL Search report despatched

Free format text: ORIGINAL CODE: 0009013

AK Designated contracting states

Kind code of ref document: A3

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LI LU MC NL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL LT LV MK

17P Request for examination filed

Effective date: 20111007

AKX Designation fees paid

Designated state(s): DE

17Q First examination report despatched

Effective date: 20140902

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

INTG Intention to grant announced

Effective date: 20180312

GRAJ Information related to disapproval of communication of intention to grant by the applicant or resumption of examination proceedings by the epo deleted

Free format text: ORIGINAL CODE: EPIDOSDIGR1

INTC Intention to grant announced (deleted)
GRAR Information related to intention to grant a patent recorded

Free format text: ORIGINAL CODE: EPIDOSNIGR71

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

INTG Intention to grant announced

Effective date: 20180912

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): DE

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 60351577

Country of ref document: DE

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 60351577

Country of ref document: DE

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20190725

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 60351577

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200201